Robust servo control design for mechanical systems using mixed uncertainty modelling

P. Gáspár, I. Szaszi, J. Bokor

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

In this paper, a servo control synthesis based on the μ method is applied. With this method, a robust compensator that achieves performance specifications can be designed, which provides the track of the predefined reference signal, rejects the effects of the disturbances and takes structured uncertainty into consideration. In the mixed μ synthesis, both the real parametric and the complex uncertainties are handled together, which usually yields a less conservative compensator than the traditional robust control design methods. The design strategy is illustrated for an inverted pendulum device, which involves real parametric uncertainties.

Original languageEnglish
Title of host publicationEuropean Control Conference, ECC 2003
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages342-347
Number of pages6
ISBN (Print)9783952417379
Publication statusPublished - Apr 13 2003
Event2003 European Control Conference, ECC 2003 - Cambridge, United Kingdom
Duration: Sep 1 2003Sep 4 2003

Other

Other2003 European Control Conference, ECC 2003
CountryUnited Kingdom
CityCambridge
Period9/1/039/4/03

Fingerprint

Pendulums
Robust control
Specifications
Uncertainty

Keywords

  • Control education
  • H/μ analysis and synthesis
  • Laboratory techniques
  • Mechanical systems
  • Robust control

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Gáspár, P., Szaszi, I., & Bokor, J. (2003). Robust servo control design for mechanical systems using mixed uncertainty modelling. In European Control Conference, ECC 2003 (pp. 342-347). [7084978] Institute of Electrical and Electronics Engineers Inc..

Robust servo control design for mechanical systems using mixed uncertainty modelling. / Gáspár, P.; Szaszi, I.; Bokor, J.

European Control Conference, ECC 2003. Institute of Electrical and Electronics Engineers Inc., 2003. p. 342-347 7084978.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Gáspár, P, Szaszi, I & Bokor, J 2003, Robust servo control design for mechanical systems using mixed uncertainty modelling. in European Control Conference, ECC 2003., 7084978, Institute of Electrical and Electronics Engineers Inc., pp. 342-347, 2003 European Control Conference, ECC 2003, Cambridge, United Kingdom, 9/1/03.
Gáspár P, Szaszi I, Bokor J. Robust servo control design for mechanical systems using mixed uncertainty modelling. In European Control Conference, ECC 2003. Institute of Electrical and Electronics Engineers Inc. 2003. p. 342-347. 7084978
Gáspár, P. ; Szaszi, I. ; Bokor, J. / Robust servo control design for mechanical systems using mixed uncertainty modelling. European Control Conference, ECC 2003. Institute of Electrical and Electronics Engineers Inc., 2003. pp. 342-347
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